OpenRaiser/Intern-Atlas huggingface dataset:
Training Image Derivatives: Increased Accuracy and Universal Robustness
Venue: arXiv cs.LG 2025
Year: 2025

Derivative training is an established method that can significantly increase the accuracy of neural networks in certain low-dimensional tasks. In this paper, we extend this improvement to an illustrative image analysis problem: reconstructing the vertices of a cube from its image. By training the derivatives with respect to the cube's six degrees of freedom, we achieve a 25-fold increase in accuracy for noiseless inputs. Additionally, derivative knowledge offers a novel approach to enhancing network robustness, which has traditionally been understood in terms of two types of vulnerabilities: excessive sensitivity to minor perturbations and failure to detect significant image changes. Conventional robust training relies on output invariance, which inherently creates a trade-off between these two vulnerabilities. By leveraging derivative information we compute non-trivial output changes in response to arbitrary input perturbations. This resolves the trade-off, yielding a network that is twice as robust and five times more accurate than the best case under the invariance assumption. Unlike conventional robust training, this outcome can be further improved by simply increasing the network capacity. This approach is applicable to phase retrieval problems and other scenarios where a sufficiently smooth manifold parametrization can be obtained.
MGAS: Multi-Granularity Architecture Search for Trade-Off Between Model Effectiveness and Efficiency
Venue: arXiv cs.LG 2025
Year: 2025

Neural architecture search (NAS) has gained significant traction in automating the design of neural networks. To reduce search time, differentiable architecture search (DAS) reframes the traditional paradigm of discrete candidate sampling and evaluation into a differentiable optimization over a super-net, followed by discretization. However, most existing DAS methods primarily focus on optimizing the coarse-grained operation-level topology, while neglecting finer-grained structures such as filter-level and weight-level patterns. This limits their ability to balance model performance with model size. Additionally, many methods compromise search quality to save memory during the search process. To tackle these issues, we propose Multi-Granularity Differentiable Architecture Search (MG-DARTS), a unified framework which aims to discover both effective and efficient architectures from scratch by comprehensively yet memory-efficiently exploring a multi-granularity search space. Specifically, we improve the existing DAS methods in two aspects. First, we adaptively adjust the retention ratios of searchable units across different granularity levels through adaptive pruning, which is achieved by learning granularity-specific discretization functions along with the evolving architecture. Second, we decompose the super-net optimization and discretization into multiple stages, each operating on a sub-net, and introduce progressive re-evaluation to enable re-pruning and regrowth of previous units, thereby mitigating potential bias. Extensive experiments on CIFAR-10, CIFAR-100 and ImageNet demonstrate that MG-DARTS outperforms other state-of-the-art methods in achieving a better trade-off between model accuracy and parameter efficiency. Codes are available at https://github.com/lxy12357/MG_DARTS.
Learning Through AI-Clones: Enhancing Self-Perception and Presentation Performance
Venue: arXiv cs.HC 2025
Year: 2025

This study examines the impact of AI-generated digital clones with self-images on enhancing perceptions and skills in online presentations. A mixed-design experiment with 44 international students compared self-recording videos (self-recording group) to AI-clone videos (AI-clone group) for online English presentation practice. AI-clone videos were generated using voice cloning, face swapping, lip-syncing, and body-language simulation, refining the repetition, filler words, and pronunciation of participants' original presentations. Through the lens of social comparison theory, the results showed that AI clones functioned as positive "role models" for facilitating social comparisons. When comparing the effects on self-perceptions, speech qualities, and self-kindness, the self-recording group showed an increase in pronunciation satisfaction. However, the AI-clone group exhibited greater self-kindness, broader observational coverage, and a meaningful transition from a corrective to an enhancive approach in self-critique. Moreover, machine-rated scores revealed immediate performance gains only within the AI-clone group. Considering individual differences, aligning interventions with participants' regulatory focus significantly enhanced their learning experience. These findings highlight the theoretical, practical, and ethical implications of AI clones in supporting emotional and cognitive skill development.
HetGPT: Harnessing the Power of Prompt Tuning in Pre-Trained Heterogeneous Graph Neural Networks
Venue: arXiv cs.LG 2025
Year: 2025

Graphs have emerged as a natural choice to represent and analyze the intricate patterns and rich information of the Web, enabling applications such as online page classification and social recommendation. The prevailing "pre-train, fine-tune" paradigm has been widely adopted in graph machine learning tasks, particularly in scenarios with limited labeled nodes. However, this approach often exhibits a misalignment between the training objectives of pretext tasks and those of downstream tasks. This gap can result in the "negative transfer" problem, wherein the knowledge gained from pre-training adversely affects performance in the downstream tasks. The surge in prompt-based learning within Natural Language Processing (NLP) suggests the potential of adapting a "pre-train, prompt" paradigm to graphs as an alternative. However, existing graph prompting techniques are tailored to homogeneous graphs, neglecting the inherent heterogeneity of Web graphs. To bridge this gap, we propose HetGPT, a general post-training prompting framework to improve the predictive performance of pre-trained heterogeneous graph neural networks (HGNNs). The key is the design of a novel prompting function that integrates a virtual class prompt and a heterogeneous feature prompt, with the aim to reformulate downstream tasks to mirror pretext tasks. Moreover, HetGPT introduces a multi-view neighborhood aggregation mechanism, capturing the complex neighborhood structure in heterogeneous graphs. Extensive experiments on three benchmark datasets demonstrate HetGPT's capability to enhance the performance of state-of-the-art HGNNs on semi-supervised node classification.
On the Low-SNR Asymptotic Capacity of Two Types of Optical Wireless Channels under Average-Intensity Constraints
Venue: arXiv cs.IT 2025
Year: 2025

In this paper, we study two types of optical wireless channels under average-intensity constraints. One is called the Gaussian optical intensity channel, where the channel output models the converted electrical current corrupted by additive white Gaussian noise. The other one is the Poisson optical intensity channel, where the channel output models the number of received photons corrupted by a dark current. When the average input intensity $\mathcal{E}$ is small, the capacity of the Gaussian optical intensity channel is shown to scale as $\mathcal{E}\sqrt{\frac{\log\frac{1}{\mathcal{E}}}{2}}$, and the capacity of the Poisson optical intensity channel as $\mathcal{E}\log\log\frac{1}{\mathcal{E}}$. This closes the existing capacity gaps in these two channels.
AO-Grasp: Articulated Object Grasp Generation
Venue: arXiv cs.RO 2025
Year: 2025

We introduce AO-Grasp, a grasp proposal method that generates 6 DoF grasps that enable robots to interact with articulated objects, such as opening and closing cabinets and appliances. AO-Grasp consists of two main contributions: the AO-Grasp Model and the AO-Grasp Dataset. Given a segmented partial point cloud of a single articulated object, the AO-Grasp Model predicts the best grasp points on the object with an Actionable Grasp Point Predictor. Then, it finds corresponding grasp orientations for each of these points, resulting in stable and actionable grasp proposals. We train the AO-Grasp Model on our new AO-Grasp Dataset, which contains 78K actionable parallel-jaw grasps on synthetic articulated objects. In simulation, AO-Grasp achieves a 45.0 % grasp success rate, whereas the highest performing baseline achieves a 35.0% success rate. Additionally, we evaluate AO-Grasp on 120 real-world scenes of objects with varied geometries, articulation axes, and joint states, where AO-Grasp produces successful grasps on 67.5% of scenes, while the baseline only produces successful grasps on 33.3% of scenes. To the best of our knowledge, AO-Grasp is the first method for generating 6 DoF grasps on articulated objects directly from partial point clouds without requiring part detection or hand-designed grasp heuristics. Project website: https://stanford-iprl-lab.github.io/ao-grasp
CDSD: Chinese Dysarthria Speech Database
Venue: arXiv cs.SD 2025
Year: 2025

Dysarthric speech poses significant challenges for individuals with dysarthria, impacting their ability to communicate socially. Despite the widespread use of Automatic Speech Recognition (ASR), accurately recognizing dysarthric speech remains a formidable task, largely due to the limited availability of dysarthric speech data. To address this gap, we developed the Chinese Dysarthria Speech Database (CDSD), the most extensive collection of Chinese dysarthria data to date, featuring 133 hours of recordings from 44 speakers. Our benchmarks reveal a best Character Error Rate (CER) of 16.4\%. Compared to the CER of 20.45\% from our additional human experiments, Dysarthric Speech Recognition (DSR) demonstrates its potential in significant improvement of communication for individuals with dysarthria. The CDSD database will be made publicly available at http://melab.psych.ac.cn/CDSD.html.
Semiring Provenance for Lightweight Description Logics
Venue: arXiv cs.LO 2025
Year: 2025

We investigate semiring provenance--a successful framework originally defined in the relational database setting--for description logics. In this context, the ontology axioms are annotated with elements of a commutative semiring and these annotations are propagated to the ontology consequences in a way that reflects how they are derived. We define a provenance semantics for a language that encompasses several lightweight description logics and show its relationships with semantics that have been defined for ontologies annotated with a specific kind of annotation (such as fuzzy degrees). We show that under some restrictions on the semiring, the semantics satisfies desirable properties (such as extending the semiring provenance defined for databases). We then focus on the well-known why-provenance, for which we study the complexity of problems related to the provenance of an assertion or a conjunctive query answer. Finally, we consider two more restricted cases which correspond to the so-called positive Boolean provenance and lineage in the database setting. For these cases, we exhibit relationships with well-known notions related to explanations in description logics and complete our complexity analysis. As a side contribution, we provide conditions on an $\mathcal{ELHI}_\bot$ ontology that guarantee tractable reasoning.
Can GPT models Follow Human Summarization Guidelines? A Study for Targeted Communication Goals
Venue: arXiv cs.CL 2025
Year: 2025

This study investigates the ability of GPT models (ChatGPT, GPT-4 and GPT-4o) to generate dialogue summaries that adhere to human guidelines. Our evaluation involved experimenting with various prompts to guide the models in complying with guidelines on two datasets: DialogSum (English social conversations) and DECODA (French call center interactions). Human evaluation, based on summarization guidelines, served as the primary assessment method, complemented by extensive quantitative and qualitative analyses. Our findings reveal a preference for GPT-generated summaries over those from task-specific pre-trained models and reference summaries, highlighting GPT models' ability to follow human guidelines despite occasionally producing longer outputs and exhibiting divergent lexical and structural alignment with references. The discrepancy between ROUGE, BERTScore, and human evaluation underscores the need for more reliable automatic evaluation metrics.
Neuromorphic weighted sums with magnetic skyrmions
Venue: arXiv cs.ET 2025
Year: 2025

Integrating magnetic skyrmions into neuromorphic computing could help improve hardware efficiency and computational power. However, developing a scalable implementation of the weighted sum of neuron signals - a core operation in neural networks - has remained a challenge. Here, we show that weighted sum operations can be performed in a compact, biologically-inspired manner by using the non-volatile and particle-like characteristics of magnetic skyrmions that make them easily countable and summable. The skyrmions are electrically generated in numbers proportional to an input with an efficiency given by a non-volatile weight. The chiral particles are then directed using localized current injections to a location where their presence is quantified through non-perturbative electrical measurements. Our experimental demonstration, which currently has two inputs, can be scaled to accommodate multiple inputs and outputs using a crossbar array design, potentially nearing the energy efficiency observed in biological systems.
MimicTouch: Leveraging Multi-modal Human Tactile Demonstrations for Contact-rich Manipulation
Venue: arXiv cs.RO 2025
Year: 2025

Tactile sensing is critical to fine-grained, contact-rich manipulation tasks, such as insertion and assembly. Prior research has shown the possibility of learning tactile-guided policy from teleoperated demonstration data. However, to provide the demonstration, human users often rely on visual feedback to control the robot. This creates a gap between the sensing modality used for controlling the robot (visual) and the modality of interest (tactile). To bridge this gap, we introduce "MimicTouch", a novel framework for learning policies directly from demonstrations provided by human users with their hands. The key innovations are i) a human tactile data collection system which collects multi-modal tactile dataset for learning human's tactile-guided control strategy, ii) an imitation learning-based framework for learning human's tactile-guided control strategy through such data, and iii) an online residual RL framework to bridge the embodiment gap between the human hand and the robot gripper. Through comprehensive experiments, we highlight the efficacy of utilizing human's tactile-guided control strategy to resolve contact-rich manipulation tasks. The project website is at https://sites.google.com/view/MimicTouch.
Cross-lingual Transfer in Programming Languages: An Extensive Empirical Study
Venue: arXiv cs.CL 2025
Year: 2025

Large language models (LLMs) have achieved state-of-the-art performance in various software engineering tasks, including error detection, clone detection, and code translation, primarily leveraging high-resource programming languages like Python and Java. However, many critical languages, such as COBOL, as well as emerging languages, such as Rust and Swift, remain low-resource due to limited openly available code. This scarcity hampers the training and effectiveness of LLMs for these languages, increasing software maintenance costs and stifling innovation. Addressing this gap, we investigate the potential of transfer learning to enhance LLM performance on low-resource programming languages by leveraging data from high-resource counterparts. Our extensive empirical study evaluates transferability across 10 to 41 programming languages and five key tasks: code generation, clone detection, code repair, solution domain classification, and error detection. Additionally, we develop a performance prediction model to guess the best source languages for a given target and task, and analyze the features that influence transfer performance. We further replicate a representative subset of experiments with a larger model to test the generalizability of our conclusions to contemporary large-scale LLMs. Our findings demonstrate that cross-lingual transfer significantly outperforms zero-shot learning, with effectiveness varying based on both source and target languages. Furthermore, our model reliably predicts successful transfer sources by considering linguistic and dataset-specific features, offering practical guidance for data acquisition and model training. This work contributes to the development of LLM-driven tools for low-resource programming languages and provides insights into the characteristics that facilitate transfer across language pairs.
On the Interplay between Social Welfare and Tractability of Equilibria
Venue: arXiv cs.GT 2025
Year: 2025

Computational tractability and social welfare (aka. efficiency) of equilibria are two fundamental but in general orthogonal considerations in algorithmic game theory. Nevertheless, we show that when (approximate) full efficiency can be guaranteed via a smoothness argument à la Roughgarden, Nash equilibria are approachable under a family of no-regret learning algorithms, thereby enabling fast and decentralized computation. We leverage this connection to obtain new convergence results in large games -- wherein the number of players $n \gg 1$ -- under the well-documented property of full efficiency via smoothness in the limit. Surprisingly, our framework unifies equilibrium computation in disparate classes of problems including games with vanishing strategic sensitivity and two-player zero-sum games, illuminating en route an immediate but overlooked equivalence between smoothness and a well-studied condition in the optimization literature known as the Minty property. Finally, we establish that a family of no-regret dynamics attains a welfare bound that improves over the smoothness framework while at the same time guaranteeing convergence to the set of coarse correlated equilibria. We show this by employing the clairvoyant mirror descent algortihm recently introduced by Piliouras et al.
Optimal Robotic Assembly Sequence Planning: A Sequential Decision-Making Approach
Venue: arXiv cs.RO 2025
Year: 2025

The optimal robot assembly planning problem is challenging due to the necessity of finding the optimal solution amongst an exponentially vast number of possible plans, all while satisfying a selection of constraints. Traditionally, robotic assembly planning problems have been solved using heuristics, but these methods are specific to a given objective structure or set of problem parameters. In this paper, we propose a novel approach to robotic assembly planning that poses assembly sequencing as a sequential decision making problem, enabling us to harness methods that far outperform the state-of-the-art. We formulate the problem as a Markov Decision Process (MDP) and utilize Dynamic Programming (DP) to find optimal assembly policies for moderately sized strictures. We further expand our framework to exploit the deterministic nature of assembly planning and introduce a class of optimal Graph Exploration Assembly Planners (GEAPs). For larger structures, we show how Reinforcement Learning (RL) enables us to learn policies that generate high reward assembly sequences. We evaluate our approach on a variety of robotic assembly problems, such as the assembly of the Hubble Space Telescope, the International Space Station, and the James Webb Space Telescope. We further showcase how our DP, GEAP, and RL implementations are capable of finding optimal solutions under a variety of different objective functions and how our formulation allows us to translate precedence constraints to branch pruning and thus further improve performance. We have published our code at https://github.com/labicon/ORASP-Code.
DecoderTracker: Decoder-Only Method for Multiple-Object Tracking
Venue: arXiv cs.CV 2025
Year: 2025

Decoder-only methods, such as GPT, have demonstrated superior performance in many areas compared to traditional encoder-decoder structure transformer methods. Over the years, end-to-end methods based on the traditional transformer structure, like MOTR, have achieved remarkable performance in multi-object tracking. However,the substantial computational resource consumption of these methods, coupled with the optimization challenges posed by dynamic data, results in less favorable inference speeds and training times. To address the aforementioned issues, this paper optimized the network architecture and proposed an effective training strategy to mitigate the problem of prolonged training times, thereby developing DecoderTracker, a novel end-to-end tracking method. Subsequently, to tackle the optimization challenges arising from dynamic data, this paper introduced DecoderTracker+ by incorporating a Fixed-Size Query Memory and refining certain attention layers. Our methods, without any bells and whistles, outperforms MOTR on multiple benchmarks, \textcolor{black}{featuring a 2 to 3 times faster inference than MOTR}, respectively. The proposed method is implemented in open-source code, accessible at https://github.com/liaopan-lp/MO-YOLO.
Socially Beneficial Metaverse: Framework, Technologies, Applications, and Challenges
Venue: arXiv cs.CY 2025
Year: 2025

In recent years, the maturation of emerging technologies such as Virtual Reality, Digital twins, and Blockchain has accelerated the realization of the metaverse. As a virtual world independent of the real world, the metaverse will provide users with a variety of virtual activities that bring great convenience to society. In addition, the metaverse can facilitate digital twins, which offers transformative possibilities for the industry. Thus, the metaverse has attracted the attention of the industry, and a huge amount of capital is about to be invested. However, the development of the metaverse is still in its infancy and little research has been undertaken so far. We describe the development of the metaverse. Next, we introduce the architecture of the socially beneficial metaverse (SB-Metaverse) and we focus on the technologies that support the operation of SB-Metaverse. In addition, we also present the applications of SB-Metaverse. Finally, we discuss several challenges faced by SB-Metaverse which must be addressed in the future.